If anyone is up to the challenge, Apple provides an excellent sample project available for download with low level access and operations on the LiDAR points her

If anyone is up to the challenge, Apple provides an excellent sample project available for download with low level access and operations on the LiDAR points here and shading all for an iPhone app: https://developer.apple.com/documentation/avfoundation/additional_data_capture/capturing_depth_using_the_lidar_camera https://developer.apple.com/documentation/avfoundation/addit...